Manual

Remarks:

1. Motor will be enabled automatically by the system when this command is received

2. No velocity is available for motor channel using single potentiometer sensor

3. The unit of the velocity is (Position change in A/D sampling data) / second when

using dual potentiometer sensor for rotational position measurement and pulse/

second when using quadrature encoder.

4. Please refer to the description of GetSensorPot for data conversion between

angular values and the A/D sampling data values.

5. When some motors are not under controlled, their command values should be set

as -32768 (0x8000). That means NO_CONTROL.

See also: DcMotorVelocityNonTimeCtr

102 void DcMotorPwmTimeCtrAll(short cmd1, short cmd2, short cmd3, short cmd4,

short cmd5, short cmd6, short timePeriods);

Description:

DcMotorPwmTimeCtrAll sends the PWM control command to all 6 DC motor control

channels on the Sensing and Motion Controller (PMS5005) at the same time. The

command includes the target PWM values and the time period to execute the command.

The current trajectory planning method for time control is linear.

Syntax: DcMotorPwmTimeCtrAll (cmd1, cmd2, cmd3, cmd4, cmd5, cmd6,

timePeriods);

Parameter: short cmd1; // Target PWM value for channel #1

short cmd2; // Target PWM value for channel #2

short cmd3; // Target PWM value for channel #3

short cmd4; // Target PWM value for channel #4

short cmd5; // Target PWM value for channel #5

short cmd6; // Target PWM value for channel #6

short timePeriod; // Executing time in milliseconds

Return value: void

Remarks:

1. All channel (motors) will be enabled automatically by the system when this

command is received

2. Target pulse width value range is 0 to 32767 (0x7FFF), corresponding to the duty

cycle of 0 to 100% linearly.

3. A pulse width value of 16383 means 50% duty cycle, putting motor in “Stop” stage.

Any value in between 16384 - 32767 will put the motor to turn clockwise (facing

the front side of the motor) and any value in between 0 – 16362 will put the motor

to turn counter-clockwise.

4. When some motors are not under controlled, their command values should be set

as -32768 (0x8000). That means NO_CONTROL.